DE102017219389A1 - Method for carrying out a fully automatic driving operation of a motor vehicle - Google Patents

Abstract

The invention relates to a method for carrying out a fully automatic driving operation of a motor vehicle (30) in an environment equipped with a monitoring system (31). The method comprises the following steps: Averaging (S2) of the motor vehicle (30) in the surroundings by the monitoring system (31), checking (S3) based on the preliminary location (S2), whether the motor vehicle (30) is in one predetermined application area (39) is located within the environment and it is then a starting (S5) and performing (S6) of the fully automatic driving enabled, if the motor vehicle (30) in the predetermined application area (39) and the existence of (S1) Communication link (36) between the motor vehicle (30) and the monitoring system (31) is confirmed.

Description

The invention relates to a method for carrying out a fully automatic driving operation of a motor vehicle in an environment configured with a monitoring system and to a motor vehicle which is designed to perform a fully automatic driving operation in accordance with such a method in communication with the monitoring system.

Vehicle functions for the automated guidance of a motor vehicle, such as are currently installed in motor vehicles, can plan the travel path of the motor vehicle within a specific environment on the basis of digital maps and move in this environment in a sensor-supported manner in a collision-free manner. In addition, such autonomous vehicles can communicate wirelessly with off-board monitoring equipment via Car2X wireless technology. In fully automatic driving functions in which no longer forcibly a driver in the vehicle interior, however, must be ensured that the motor vehicle moves autonomously only within predetermined previously uniquely defined spatial boundaries. In the event of unintentional leaving of this protected environment, an immediate stop of the motor vehicle is required.

From the DE 10 2014 221 751 A1 a method for autonomously driving a motor vehicle in a parking lot is known. In this, a route in the parking lot from a start position to a destination position is determined outside the vehicle, transmitted at least a portion of the route to the motor vehicle and the motor vehicle autonomously driving down this at least a portion of the route with respect to deviations from the predetermined path monitored by a vehicle external monitoring system.

From the DE 10 2014 221 754 A1 In addition, a method for carrying out an automatic parking process of a motor vehicle is known in which a reservation request for a parking position in a parking space is sent to a parking management server via a communication network. Navigation data for autonomous navigation to the reserved parking position are transmitted via this network, and the motor vehicle then autonomously navigates to the reserved parking position based on these navigation data. The driving and parking operation of the motor vehicle is monitored by the parking management system with an internal infrastructure.

Furthermore, in the DE 10 2015 208 053 A1 proposed a method for reducing the risk to and / or by a motor vehicle in a parking lot. In this method, a communication link between a motor vehicle in the parking lot and a parking lot management system during an at least partially assisted drive in a parking lot is checked. In a disturbed or missing communication link several measures are initiated to reduce potential hazards to and / or caused by the vehicle, resulting from the disturbed or missing communication between the motor vehicle and the parking management system.

In the context of these methods, however, it is not ensured that the motor vehicle becomes fully autonomous, even in the case of technical defects or unwanted external effects on the control software of the motor vehicle or the corresponding administrative system of the environment, such as by a corresponding hacker attack, exclusively within its defined spatial limits emotional.

It is therefore an object of the invention to provide a way by means of which a particularly secure fully automatic driving operation of a motor vehicle in an environment equipped with a monitoring system environment can be made possible.

According to the invention, this object is achieved by a method for carrying out a fully automatic driving operation of a motor vehicle in an environment equipped with a monitoring system, comprising the steps: locating the motor vehicle in the environment, checking on the basis of whether the motor vehicle in a predetermined area of use within the environment and if the motor vehicle is in the predetermined area of use and there is a communication link between the motor vehicle and the monitoring system, it is possible to start and carry out the fully automatic driving operation. The proposed method according to the invention is thus a method by which an automated driving of a motor vehicle can take place. This automated driving takes place in a specific demarcated area equipped with a monitoring system that monitors and controls the progress of automated driving. First, a positioning of the motor vehicle takes place in the specific defined spatial area. This positioning can be done by the monitoring system. However, it is alternatively also possible that if, for example, the monitoring system does not have any necessary sensors and / or camera systems, the positioning takes place exclusively by corresponding vehicle functions of the motor vehicle. Based on Positioning is controlled, whether the motor vehicle is located in a certain portion of the spatial area in which use of the fully automatic driving function of the motor vehicle is sufficient and allowed at least the legal safety requirements for automated driving.

If the motor vehicle is in this certain subarea of the spatial area and, in addition, the motor vehicle and the monitoring system are in contact via corresponding vehicle and monitoring system interfaces, it is possible for the automated driving of the motor vehicle to be started and executed. As soon as the communication connection between the motor vehicle and the monitoring system exists and it has been ensured that the motor vehicle is within its field of application, only starting and performing the fully automatic driving operation is enabled, but not immediately started or executed.

The environment, which is equipped with a surveillance system, is a specific infrastructure, such as a building such as a car park or a specific stretch of road. If a motor vehicle is now located in the vicinity of such an environment, for example in a corresponding parking garage, a vehicle function designed for automated driving can establish a communication link to the monitoring system of the parking garage, wherein the monitoring system can be part of a management system of the parking garage. This communication connection is, for example, a radio communication via pWLAN or LTE-V. Preferably by the monitoring system of the parking garage is then a location of the motor vehicle in the parking garage, for example, based on the monitoring system present digitized maps of the parking garage. Based on the data of this absolute positioning of the motor vehicle is checked by the monitoring system, whether the motor vehicle is located in a specific application within the parking garage. This area of use may be, for example, a specific parking deck or an area of the parking garage which is released for automated driving. If it has now been ensured that the motor vehicle is both within the predetermined area of use within the parking garage and the communication connection between the motor vehicle and the monitoring system exists, the vehicle function provided for fully automatic driving is transmitted a corresponding signal, so that starting and performing from this point in time the fully automatic driving is possible, which is, for example, a fully automatic parking in the parking garage.

In a further advantageous embodiment of the invention, it is provided that, after the fully automatic driving operation has been enabled, it is only started when a predetermined user action has been detected. The motor vehicle thus only moves fully automatically with an automated driving function when a specific activation action has been carried out by a user of the motor vehicle. In this user action, which can also be referred to as a user / operator request, is, for example, the activation of a corresponding vehicle function of the motor vehicle by pressing a button in the vehicle interior. The starting of the automated driving process is thus only possible if it has been ensured on the one hand that the motor vehicle is in the predetermined area of application and there is a communication connection between the motor vehicle and the monitoring system and, on the other hand, the fully automatic driving process has been activated by the user of the motor vehicle. This represents an additional safeguard of the automated driving function, since unauthorized starting of the motor vehicle can be prevented in the event of a fault in the control or in the case of external influence on the fully automatic driving function. It can thereby be prevented that, for example, by a hacker attack on the control of the vehicle function designed for fully automatic driving, the motor vehicle is moved fully automatically undesirable and with increased security risk.

In a further embodiment of the invention, the user action is provided such that both a vehicle function designed for a fully autonomous driving operation in the vehicle interior and a confirmation unit outside the motor vehicle are to be operated. The activation action carried out by the user of the motor vehicle thus consists of two steps, one of which is carried out inside the motor vehicle and the other takes place only after the motor vehicle has already left the user. The user action in the vehicle interior may, for example, be the actuation of a switch of a vehicle function for the autonomous guidance of a motor vehicle. This actuation may be self-motivated by the user or in response to a request from an operator of the environment monitoring system. It is alternatively possible that the actuation function in the vehicle interior is performed by a person commissioned by the operator and not by the user of the motor vehicle itself. The corresponding request to the operator can be remotely controlled by the user via the communication link be done using, for example, a corresponding smartphone app. To identify and authenticate this request, for example, a security token can be used on the vehicle side.

The confirmation unit to be operated outside of the motor vehicle can, for example, be a remote-controlled control via an app on a smartphone, on whose user interface a button must be pressed, whereupon the fully automatic driving process is triggered. This allows a clear, because twice secured, control by the user of the motor vehicle on the triggering, but also performing, the automated driving.

In a further embodiment of the invention, it is provided that the starting of the fully automatic driving process is prevented as soon as the communication connection terminates. Thus, if a communication connection between the motor vehicle and the monitoring system of the surroundings of the motor vehicle was initially established and it was checked whether the motor vehicle is located within a predetermined operational area within the surroundings, it would basically be possible to start a fully automatic driving process. However, if it is determined that the communication link is no longer present, that is, the contact between the motor vehicle and the monitoring system of the environment is interrupted, starting the fully automatic driving is blocked. This represents an additional safety mechanism before the automated driving of the motor vehicle begins. Alternatively, it is possible to additionally check before starting the fully automatic driving operation whether the motor vehicle fulfills certain conditions, such as whether all doors and windows are closed, a predetermined tire pressure is set or predetermined states of individual vehicle systems, such as the transmission, are met. The checking of these conditions can continue to be carried out during the execution of the fully automatic driving process and used as an additional criterion for canceling the fully automatic driving process. In addition, it can be provided that a fully automatic driving operation is only possible when the motor vehicle is initially at a standstill.

A further advantageous embodiment of the invention provides that the fully automatic driving is canceled if the motor vehicle is outside the predetermined area of application and / or breaks off the connection with the monitoring system. Thus, if the motor vehicle has left the field of application intended for it and / or the contact between the motor vehicle and the monitoring system no longer exists, further execution of the automated driving is prevented. In this case, for example, the motor vehicle may be decelerated abruptly or along a certain route and then kept at a standstill. This provides additional assurance of automated driving in an environment equipped with a surveillance system.

In a further embodiment of the invention, it is provided that a path of the motor vehicle intended for the fully automatic driving process is transmitted to the monitoring system via the communication link and checked by the monitoring system with respect to the predetermined application area, wherein starting or performing the fully automatic driving operation is prevented or aborted if at least part of the intended travel path is outside the predetermined area of use. By designed by a designed for automated driving vehicle function so the planned route of the motor vehicle is transmitted to the monitoring system and controlled by this related to the predetermined application area. If at least a portion of this planned route is outside the predetermined area of application of the motor vehicle, the starting or the execution of the fully automatic driving process is prevented or stopped.

For example, if the motor vehicle is in a parking garage equipped with a corresponding monitoring system, this monitoring system determines that the route provided by the corresponding vehicle function of the motor vehicle is within the parking garage, that is, the route from a certain starting position to a possible parking position , Runs through a sub-area of the parking garage, which is outside the predetermined area of application of the motor vehicle, any fully automatic driving is inhibited. In such an area within the parking garage, which is not within the predetermined area of application, it may be, for example, an uncovered parking deck covered with black ice or a currently locked floor of the parking garage. It is thus possible for a fully automatic driving process to be checked prior to its actual startup as to whether the planned route of the motor vehicle can be released within the environment and is therefore certainly possible.

In addition, it is possible to respond to sudden changes in the area of operation by the monitoring system of the environment. If, for example, an accident takes place on a certain parking deck of the parking garage, this parking deck can be defined by the monitoring system as lying outside the predetermined area of application, so that a previously planned automated ride on this parking deck is prevented.

A further advantageous embodiment of the invention provides that determines an orientation and positioning of the motor vehicle in the environment, transmitted to the monitoring system and checked by the monitoring system with respect to the predetermined application area, wherein the starting and performing the fully automatic driving operation is prevented or canceled if the motor vehicle is in a predetermined peripheral area of the application area and would leave the predetermined application area due to its orientation and positioning when starting or performing the fully automatic driving operation. With a corresponding vehicle function, therefore, both the orientation and the current location of the motor vehicle within the environment is determined. This data is sent to the monitoring system via the existing communication link and, if the motor vehicle is located in a certain area outside the area of use, controlled by the extent to which the motor vehicle would be within the predetermined area of use after starting or performing the fully automatic driving operation. If this case can be derived from the orientation and positioning data of the motor vehicle, any start or execution of the automated driving is prevented or stopped. For example, if the motor vehicle is at the location of a parking garage at which the users of the motor vehicle can get in and out, that is to say at a position located in the peripheral area of the operational area, it can be concluded from the orientation of the motor vehicle that When starting the fully automatic driving function, the motor vehicle could leave the predetermined application area, so no automated ride is released. This allows an additional safeguarding of the fully automatic driving process, since it can be ensured that the motor vehicle does not leave the field of use predetermined for it.

In a further advantageous embodiment of the invention, it is provided that the determination of the orientation and the positioning of the motor vehicle is carried out by appropriate vehicle functions and the starting or performing the fully automatic driving operation is prevented or canceled, if determined by the monitoring system by the location position and / or orientation of the motor vehicle deviates from the position and / or orientation determined by the corresponding vehicle function. The orientation and the location where the motor vehicle is located, so determined by certain sensor units or other designed components of the motor vehicle. In this case, for example, an orientation and positioning of the motor vehicle taking into account six degrees of freedom, that is a 6DoF positioning (Six Degrees of Freedom positioning), possible. The thus determined position of the motor vehicle is adjusted to the position determined by the location of the motor vehicle in the vicinity of the monitoring system. If these two position data deviate from one another, starting or carrying out an automated driving of the motor vehicle is prevented or stopped. A deviation of the position data of the motor vehicle and the position data, which were determined by the monitoring system, for example, indicates that a defect in the corresponding vehicle function and / or in the monitoring system is present. This additional adjustment of the position data thus further secures the fully automatic driving process.

Additionally or alternatively, the orientation of the motor vehicle determined by the motor vehicle can be compared with the orientation of the motor vehicle determined by the monitoring system and checked for deviations. If these two orientation data deviate from one another, starting or carrying out an automated driving of the motor vehicle is prevented or stopped. Deviations in the orientation data also indicate defects in the corresponding vehicle function and / or in the monitoring system, so that a comparison of the orientation data enables a further safeguarding of the fully automatic driving process.

In a further advantageous embodiment of the invention, it is provided that the communication connection between the motor vehicle and the monitoring system is secured. Communication via radio technology, such as pWLAN or LTE-V, therefore takes place encrypted and via a certified local connection. For this purpose, for example, a three-way handshake method between the vehicle and the monitoring system of the environment or a back-end connection with the vehicle manufacturer or an operator of the environment would be possible, for example an operator of a parking garage with a corresponding monitoring system or a central Administrative facility for several corresponding parking garages. The communication between the motor vehicle and the monitoring system is thus secured so that it can not come to a random connection between the motor vehicle and the monitoring system, for example by external influences. In addition, while the communication link is in place, it will continue to check continuously for this connection is certified. In the case of a renewal of the communication connection after a connection break, the newly established connection is also checked for encryption and certification.
According to the invention, a motor vehicle is furthermore provided which is designed to carry out a fully automatic driving operation in accordance with the method according to the invention or in accordance with an advantageous embodiment of the method according to the invention in communication with a monitoring system in a predetermined environment. This motor vehicle is thus able to take place an automated driving according to the described embodiments. The prerequisite for this, however, is that a communication connection with the monitoring system was previously established. The monitoring system of a corresponding environment must therefore also be designed to be able to carry out a method according to the described embodiments. Both the motor vehicle and the monitoring system must therefore have corresponding communication interfaces and corresponding sensor and monitoring components.

• 1 eine schematische Darstellung eines mit einem Überwachungssystem ausgestatteten Parkhauses, in dem ein Kraftfahrzeug in einem vorgegebenen Einsatzgebiet vollautomatisch entlang eines Fahrwegs von einem Übergabebereich zu einem Zielbereich geführt wird;
• 2 eine schematische Darstellung des Parkhauses, in dem das Einsatzgebiet des Kraftfahrzeug aufgrund von Glatteis angepasst wurde;
• 3 eine schematische Darstellung des Parkhauses, in dem sich das Kraftfahrzeug in einem Randbereich des Einsatzgebietes befindet und aufgrund seiner Orientierung und Positionierung bei vollautomatischer Führung das Einsatzgebiet verlassen könnte;
• 4 eine schematische Darstellung von Verfahrensschritten zum Durchführen des vollautomatischen Fahrvorgangs des Kraftfahrzeugs in dem mit dem Überwachungssystem ausgestatteten Parkhaus.

In the following, embodiments of the invention are described. This shows:

• 1 a schematic representation of a equipped with a monitoring system parking garage in which a motor vehicle is guided in a predetermined application fully automatically along a guideway from a transfer area to a target area;
• 2 a schematic representation of the parking garage in which the application area of the motor vehicle has been adjusted due to black ice;
• 3 a schematic representation of the parking garage in which the motor vehicle is located in an edge region of the application area and could leave the application area due to its orientation and positioning with fully automatic guidance;
• 4 a schematic representation of method steps for performing the fully automatic driving of the motor vehicle in the equipped with the monitoring system parking garage.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention, which are to be considered independently of one another, which each further develop the invention independently of one another and thus also individually or in a different combination than the one shown as part of the invention. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

In the figures, functionally identical elements are each provided with the same reference numerals.

In 1 is a parking garage 32 with a surveillance system 31 outlined in which a fully automatic driving a motor vehicle 30 takes place. The parking garage 32 has a total of six parking spaces 40 and two columns 45 on and the surveillance system 31 a communication interface 33 as well as an evaluation device 34 , The car 30 is equipped with a fully automatic driving designed vehicle function and a corresponding control device 35 the vehicle function also has a communication interface 33 on. Approaching the motor vehicle 30 the parking garage 32 becomes a communication connection by triggering the corresponding vehicle function 36 between the communication interfaces 33 of the motor vehicle and the monitoring system 31 of the parking garage 32 built up. This connection can already be at a certain distance to the parking garage 32 occur. So, if parking in the parking garage 32 is planned, for example, based on appropriate settings in a navigation system of the motor vehicle 30 can be set, the structure of the communication link 33 between the motor vehicle 30 and the monitoring system 31 already some time before the arrival of the motor vehicle 30 at the parking garage 32 take place, for example while the motor vehicle 30 outside the parking garage 32 on a street 37 located and along a access road 38 to the parking garage 32 moves.

Once it has been established that the communication connection 36 between the motor vehicle 30 and the monitoring system 31 exists and the motor vehicle 30 the parking garage 32 has reached, the motor vehicle 30 through the surveillance system 31 using digital maps of the parking garage 32 in the parking garage 32 locates. Subsequently, the monitoring system checks 31 whether the motor vehicle 30 within a predetermined field of use 39 inside the parking garage 32 located. In the predetermined application 39 These are, for example, certain parking decks of the parking garage 32 on which certain parking 40 for fully automatic parking vehicles 30 are reserved. Now it is determined that the motor vehicle 30 within this predetermined field of application 39 is located and can be confirmed that the communication connection 36 still exists, the fully automatic driving is possible.

Now it is possible that the fully automatic driving process is started by a corresponding user action. During a subsequent fully automatic driving along a guideway 42 to a target area 43 in the parking garage 32 will continue to check if the communication connection 36 between the motor vehicle 30 and the monitoring system 31 exists and whether the motor vehicle 30 still within his predefined area of application 39 located. Cancels the communication connection 36 From, for example, by interference in the radio link or by other technical defects, or is observed that the motor vehicle 30 the predetermined application area 39 leaves, for example, by a faulty execution of automated driving, the fully automatic driving is canceled. During the fully automatic driving process, however, it is also possible for the fully automatic vehicle function to be terminated regularly, for example by a corresponding user action or at the direction of a user of the monitoring system requested by the user 31 of the parking garage 32 ,

For safety reasons, the user actions with which the fully automatic driving process is started and stopped are preferably duplicate user actions. This double user action consists of an actuation by the user of the motor vehicle 30 within the motor vehicle 30 For example, by pressing a button on a corresponding vehicle component, and also from a second user action outside the motor vehicle 30 for example, by pressing a button on a corresponding one to control a fully automatic driving operation of a motor vehicle 30 provided app of a smartphone. The transfer of the control of the motor vehicle 30 From the user to the designed for a fully automatic driving vehicle function takes place in a transfer area 41 which is usually at the entrance of the car park 32 and thus at the edge of the field of application 39 located. The user puts in this transfer area 41 the car 30 from, activated in the vehicle interior, the first user action, then leaves the vehicle 30 and starts the fully automatic driving process along the guideway 42 to the target position 43 of the motor vehicle 30 through the corresponding second user action. In the case of a fully automatic Ausparkvorgangs the motor vehicle 30 out of the target area 43 the user takes the motor vehicle in the transfer area 41 back in reception.

It is determined that the motor vehicle 30 not in the predetermined field of application 39 located and / or the communication link 36 between the communication interfaces 33 of the motor vehicle 30 and the monitoring system 31 is canceled, the fully automatic driving is prevented. This condition is possible, for example, when the motor vehicle 30 from the user outside the parking garage 32 or in an unauthorized location within the parking garage 32 was turned off, for example at the one with a cross 50 marked spot, or if there is interference in the communication link 36 between the motor vehicle 30 and the monitoring system 31 comes, or defects in the appropriate communication interfaces 33 occur. Can the communication connection 36 between the corresponding communication interfaces 33 However, be restored and / or is the motor vehicle 30 again within the operational area 39 , for example by re-parking the motor vehicle 30 by the driver, the fully automatic driving is enabled again.

Before the motor vehicle 30 fully automatic in the parking garage 32 moved, that is, if it is still in the transfer area 41 is located, first the driveway 42 of the motor vehicle 32 from the transfer area 41 at the entrance of the parking garage 32 to the target area 43 That is, for example, a specific parking space 40 in the parking garage 32 is. For the route determination can also by the monitoring system 31 provided data for parking garage occupancy and orientation in the parking garage 32 be provided, for example digital maps. As soon as the route has been determined, it will be sent via the communication link 36 to the surveillance system 31 transmitted. Subsequently, the evaluation device checks 34 whether this track 42 within the operational area 39 of the motor vehicle 30 runs. Now it is determined that the track 42 within the operational area 39 runs, the motor vehicle 30 within the operational area 39 located and also the communication link 36 between the motor vehicle 30 and the monitoring system 31 is present, the fully automatic driving is enabled, followed by the steps already described.

Runs the track 42 within the operational area 39 but breaks the communication link 36 between the communication interfaces 33 of the motor vehicle 30 and the monitoring system 31 From and / or it is determined that the motor vehicle 30 outside the field of application 39 is, there is a blocking of the fully automatic driving.

Is determined during the fully automatic driving that the predetermined route 42 outside the predetermined area of application 39 runs, the fully automatic driving is also canceled. This situation is in 2 based on the travel path 42 ' outlined and would be conceivable if, for example, a sudden change in the field of application 39 through the surveillance system 31 is made.

This can be done if it is determined that safe driving in a particular area and / or on a particular parking deck of the parking garage 32 is no longer possible. This would be the case, for example, if black ice is present 44 is registered in an area on an uncovered parking deck or the lighting conditions deteriorate due to failing lamps on a parking level. The data necessary for this assessment are provided by the monitoring system 31 provided that permanently the environmental conditions within the environment, that is inside the parking garage 32 , supervised. For this purpose, data can be obtained with various sensor devices or cameras, such as data about the light-visibility conditions within the parking garage 32 , the friction value on the floor of the parking garage 32 and / or temperature data. On the basis of the friction values, for example, smooth or other sections of the parking garage that are not safely accessible can be used 32 , for example, due to oil spots on the parking garage floor, are identified. Should the monitoring system 31 given operating conditions, for example, a certain minimum brightness or a predetermined range of friction value, may not be met by the prevailing environmental conditions, the affected area of the environment than outside the field 39 lying defined, that is a smaller field of application 39 ' be defined without the affected areas of the environment. The car 30 then only has the authorization to do so in the area of application 39 ' to drive fully automatically. If the motor vehicle 30 outside the field of application 39 ' is located, the fully automatic driving function is stopped immediately, that is the motor vehicle 30 the driving authorization is withdrawn for automated driving.

In 3 a further additional securing step is outlined for the orientation and positioning of the motor vehicle 30 by motor vehicle own sensor and measuring units within the parking garage 32 is taken into account. First, an orientation and positioning determination of the motor vehicle takes place 30 through appropriate vehicle components. For this purpose, for example, with a corresponding sensor device, the proper motion of the motor vehicle 30 be recognized. In addition, with external cameras of the motor vehicle 30 certain features of the parking garage 32 such as columns 45 Road markings or equivalent landmarks attached to the parking garage walls, such as 2D bar codes, using the surveillance system 31 deposited digital map of the parking garage 32 an additional positioning and thus a location of the motor vehicle 30 in the area by the motor vehicle 30 even possible. The digital map of the parking garage 32 it does not necessarily have to be done by the monitoring system 31 be deposited. It is also possible that the corresponding vehicle function of the motor vehicle 30 already a digital map of the parking garage 32 present by the monitoring system 31 only with regard to certain characteristics, such as certain landmarks or the limits of the field of application 39 , is checked. The motor vehicle 30 present digital maps are thus before their use in the context of fully automatic driving by the monitoring system 31 controlled and certified.

The from the motor vehicle 30 certain orientation and positioning data are hereafter via the communication link 36 to the surveillance system 31 transmitted. The evaluation unit then checks 34 of the monitoring system 31 in how far it would be possible for the motor vehicle 30 if this is in a predetermined edge area 46 of the field of application 39 due to its orientation and positioning within the fully automatic driving process could move so that it is the predetermined areas of application 39 leaves. A motor vehicle 30 with such orientation and positioning in the edge area 46 of the field of application 39 is in 3 outlines the orientation of the motor vehicle 30 with an arrow 47 is shown.

The orientation and positioning determination, the transmission of these data and the described verification of the orientation and positioning of the motor vehicle 30 take place continuously. So there are constantly status data from the motor vehicle 30 to the surveillance system 31 transmitted, in addition to the orientation and positioning of the motor vehicle 30 also other data, such as the speed of the motor vehicle 30 , may include. Is the motor vehicle 30 now in the border area 46 of the field of application 39 , for example in the immediate vicinity of the transfer area 41 , where it is provided that there is the user of the motor vehicle 30 can safely get on and off now, if it should be determined that it is due to the orientation of the motor vehicle 30 it is possible that the motor vehicle 30 in the fully automatic driving the predetermined application area 39 leaves the fully automatic driving stopped.

To determine whether the complete drive should be stopped, also the communication link 36 between motor vehicle 30 and surveillance system 31 checked and ensured that the motor vehicle 30 within his predefined field of application 39 located. Even during the fully automatic driving process, when the motor vehicle 30 within the predetermined peripheral area 46 of the field of application 39 continues to be checked, whether by the orientation and positioning of the motor vehicle 30 possible conflicts with the given field of application 39 result and optionally aborted the fully automatic driving. In the predetermined marginal areas 46 of the field of application 39 it is typically a relatively small area of the field of application 39 right on the edge.

In addition, a position adjustment can take place in which the position data of the motor vehicle determined during the orientation and position determination 30 with the corresponding positioning data of the monitoring system 31 be compared by the location. If deviations between the two positioning data are detected, the fully automatic driving process can be prevented or aborted. Such a deviation between the two positioning data indicates that a defect in a corresponding vehicle function or in a corresponding function of the monitoring system 31 exists, so that for safety reasons, the fully automatic driving is prevented or canceled.

In 4 are the individual process steps for performing the fully automatic driving of the motor vehicle 30 in that with a surveillance system 31 equipped parking garage 32 outlined. The arrows shown in the figure represent transmitted data or signals.

Once a passing S1 the communication connection 36 between the motor vehicle 30 and the monitoring system 31 was determined and the motor vehicle 30 the parking garage 32 has reached, there is a location S2 of the motor vehicle 30 in the parking garage 32 through the surveillance system 31 , This is followed by a check S3 through the surveillance system 31 whether the motor vehicle 30 within his predefined field of application 39 inside the parking garage 32 located. Now it is determined that the motor vehicle 30 within the operational area 39 is located and can be confirmed that the communication connection 36 still exists, an enabling takes place S4 of fully automatic driving.

From now on is a start S5 the fully automatic driving by a corresponding user action possible. During a subsequent performance S6 the fully automatic driving process is still checked whether the communication link 36 between the motor vehicle 30 and the monitoring system 31 exists and whether the motor vehicle 30 still within his predefined area of application 39 located. If there is a termination of the communication connection 36 or is observed that the motor vehicle 30 the predetermined application area 39 leaves it comes to a demolition S7 of fully automatic driving. While performing S6 However, the fully automatic driving function, it is also possible that a regular stop S9 the fully automatic vehicle function takes place.

Will when checking S3 whether the motor vehicle 30 in a predetermined field of application 39 located, found that the motor vehicle 30 not within the operational area 39 located, and / or is already determined at this point that the communication link 36 between the communication interfaces 33 of the motor vehicle 30 and the monitoring system 31 aborted, it comes to a stop S8 of starting S5 of fully automatic driving. Can the communication connection 36 between the corresponding communication interfaces 33 However, be restored and / or is the motor vehicle 30 again within the operational area 39 , that can stop S8 of starting S5 the fully automatic driving process are withdrawn and an enabling S4 the fully automatic driving process done.

Overall, the examples, such as by the invention, show a safe method for performing a fully automatic driving operation of a motor vehicle 30 in one with a surveillance system 31 equipped parking garage 32 is possible. Instead of in a parking garage 32 The procedure may also work in another with a surveillance system 31 equipped environment in which a motor vehicle 30 should be performed fully automatically, for example on a corresponding section of a highway.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102014221751 A1 [0003]
• DE 102014221754 A1 [0004]
• DE 102015208053 A1 [0005]

Claims (10)

Method for carrying out a fully automatic driving operation of a motor vehicle (30) in an environment equipped with a monitoring system (31), comprising the steps: - Locations (S2) of the motor vehicle (30) in the area, - checking (S3) on the basis of the preliminary location (S2), whether the motor vehicle (30) is located in a predetermined operational area (39) within the surroundings, - If the motor vehicle (30) in the predetermined application area (39) and a communication link (36) between the motor vehicle (30) and the monitoring system (31) is, starting (S5) and performing (S6) of the fully automatic driving allows. Method according to Claim 1 wherein, after the fully automatic driving has been enabled, it is only started when a predetermined user action has been detected. Method according to Claim 2 wherein the user action envisages operating both a vehicle function designed for a fully autonomous driving operation in the vehicle interior and a confirmation unit outside the motor vehicle (30). Method according to one of the preceding claims, wherein the starting (S5) of the fully automatic driving process is inhibited as soon as the communication link (36) stops. Method according to one of the preceding claims, wherein the fully automatic driving operation is aborted if the motor vehicle (30) outside the predetermined application area (39) and / or the communication link (36) with the monitoring system (31) stops. Method according to one of the preceding claims, wherein provided for the fully automatic driving process track (42) of the motor vehicle (30) via the communication link (36) to the monitoring system (31) and checked by the monitoring system (31) with respect to the predetermined application area (39) is, wherein the starting (S5) or performing (S6) of the fully automatic driving operation is inhibited or canceled if at least a part of the intended travel path (42) outside of the predetermined application area (39). Method according to one of the preceding claims, wherein orientation and positioning of the motor vehicle (30) in the environment are determined, transmitted to the monitoring system (31) and checked by the monitoring system (31) with regard to the predetermined field of application (39), wherein starting ( S5) or the execution (S6) of the fully automatic driving operation is stopped or aborted if the motor vehicle (30) is located in a predetermined edge region (46) of the application area (39) and due to its orientation and positioning at start (S5) or performing ( S6) of the fully automatic driving operation would leave the predetermined application area (39). Method according to Claim 7 , wherein the determination of the orientation and the positioning of the motor vehicle (30) is carried out by appropriate vehicle functions and the starting (S5) or performing (S6) of the fully automatic driving operation is suppressed or canceled if the monitoring system (31) by the location (S2 ) deviates certain position and / or orientation of the motor vehicle (30) from the position and / or orientation determined by the corresponding vehicle functions. Method according to one of the preceding claims, wherein the communication link (36) between the motor vehicle (30) and the monitoring system (31) is secured. A motor vehicle, which is adapted, in communication with a monitoring system (31), a fully automatic driving process according to a method according to any one of Claims 1 - 9 perform.

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